Work robot system and work robot

Abstract

A work robot system includes, a work robot and a work robot control unit that perform work on a target part of an object conveyed by a conveyer device, a measurement robot, a sensor that is attached to the measurement robot and that detects a position of a detection target of the object conveyed by the conveyer device, a measurement robot control unit that moves, through control of the measurement robot, the sensor in accordance with conveyance of the object, in order to detect the position, and a force detector that is used when force control is performed. When the work robot performs the work, the work robot control unit performs force control while performing control of the work robot based on a detection result of the sensor.

The invention claimed is: 
     
       1. A work robot system, comprising:
 a conveyer device that conveys an object; 
 a work robot that performs predetermined work on a target part of the object; 
 a work robot control unit that controls the work robot; 
 a measurement robot; 
 a sensor, disposed on the measurement robot, wherein the sensor detects a position of the target part or a detection target on the object, wherein the detection target on the object does not change with respect to the target part, and wherein the measurement robot moves the sensor; 
 a measurement robot control unit that controls the measurement robot; and 
 a force detector, disposed on the work robot, that detects a force of contact between a component or a tool supported by the work robot and the object, 
 wherein, when the predetermined work is performed by the work robot, the work robot control unit controls the force of contact between the component or the tool and the object based on a detection value of the force and, while controlling the force, also controls a position of the work robot based on the detected position of the target part or the detection target. 
 
     
     
       2. The work robot system according to  claim 1 , wherein, while controlling the force, the work robot moves the component or the tool to follow the target part based on the detected position of the target part or the detection target. 
     
     
       3. The work robot system according to  claim 1 , wherein the measurement robot control unit detects the position of the target part by moving the sensor to follow the target part or the detection target. 
     
     
       4. The work robot system according to  claim 1 , wherein the measurement robot control unit detects the position of the target part by causing the measurement robot to move the sensor. 
     
     
       5. The work robot system according to  claim 1 , further comprising:
 a detection unit that detects at least a position of the object on the conveyer device, 
 wherein the work robot control unit brings the component or the tool close to the target part based on a detection result of the detection unit; and 
 the measurement robot control unit brings the sensor close to the target part or the detection target based on the detection result of the detection unit. 
 
     
     
       6. The work robot system according to  claim 1 , wherein, when the detected position of the target part or the detection target exceeds a predetermined reference, at least one of the work robot control unit and the conveyer device performs an abnormality management operation. 
     
     
       7. A work robot, comprising:
 an arm that performs predetermined work on a target part of an object conveyed by a conveyer device; 
 a work robot control unit that controls the arm; and 
 a force detector that detects a force generated by a contact between the object and a component or a tool supported by the arm, 
 wherein the work robot control unit receives, from a measurement robot comprising a sensor, data about a position of the target part or a detection target, wherein the detection target does not change with respect to the target part, and 
 when the predetermined work is performed by the arm, the work robot control unit controls a force between the object and the component or the tool based on a detection value of the force, and, while controlling the force, also controls the arm using the data about the position of the target part or the detection target.